A new planar robotic exoskeleton for upper-limb motor assessment has been developed. It provides independent control of a user’s shoulder, elbow, and wrist joints in the horizontal plane. The lightweight backdriveable robot is based on a novel cable-driven curved track and carriage system that enables the entire mechanism to be located underneath the user’s arm. It has been designed to extend t...

In a no-bend orthogonal drawing of a plane graph, each vertex is drawn as a point and each edge is drawn as a single horizontal or vertical line segment. A planar graph is said to have a no-bend orthogonal drawing if at least one of its plane embeddings has a no-bend orthogonal drawing. Every series-parallel graph is planar. In this paper we give a linear-time algorithm to examine whether a ser...

This paper presents a multibaseline stereo technique specially suited to detecting obstacles. A method is described for weakly calibrating a set of multibaseline stereo cameras with high accuracy. This method is then used to tailor the stereo search space to the special case where the world in front of the cameras consists mainly of nearly horizontal planar surfaces (the ground), where we are i...

The Finite-Difference Time-Domain (FDTD) method is used to calculate the cellular phone far and near field and the specific absorption rate (SAR) in the user’s head. The conventional λ/4 monopole and a simple planar antenna are simulated and measured. The simulated results are in good agreement with those measured for the VSWR and for the radiation patterns on the horizontal and vertical planes...

In this work, a miniature mobile vibratory parts feeder is proposed. This feeder, exploiting the unique capabilities of a recently developed closed-loop planar linear motor, is designed to reorient, singulate, and position parts using only horizontal vibrations. The actuators used for generating the feed vibrations are also capable of large planar motions, allowing the feeder to serve multiple ...

In this paper we present a fast approach to range image segmentation. The segmentation results are intended to serve as input to the perception system of a domestic service robot. In the first step “ghost points” at depth discontinuities are identified. This is followed by extracting step and roof edges. Planar patches are detected with a focus on horizontal and vertical planar structures. Fina...

We study the problem of convexifying drawings of planar graphs. Given any planar straight-line drawing of a 3-connected graph G, we show how to morph the drawing to one with convex faces while maintaining planarity at all times. Furthermore, the morph is convexity increasing, meaning that angles of inner faces never change from convex to reflex. We give a polynomial time algorithm that construc...

Emx2 is a homeodomain protein that plays a critical role in inner ear development. Homozygous null mice die at birth with a range of defects in the CNS, renal system and skeleton. The cochlea is shorter than normal with about 60% fewer auditory hair cells. It appears to lack outer hair cells and some supporting cells are either absent or fail to differentiate. Many of the hair cells differentia...

Minority-carrier diffusion lengths in n-type 6H-SIC were measured using the planar electron-beam induced current (EBIC) technique. Experimental values of electron beam current, EBIC, and beam voltage were obtained for n-type SIC with a carrier concentration of 1.7E17 ~ m ~ . This data was fit to theoretically calculated diode efficiency curves, and the diffusion length and metal layer thickness...

Dual-layer resistive switching devices with horizontal W electrodes, vertical Pd electrodes and WOx switching layer formed at the sidewall of the horizontal electrodes have been fabricated and characterized. The devices exhibit well-characterized analog switching characteristics and small mismatch in electrical characteristics for devices formed at the two layers. The three-dimensional (3D) ver...